Smart self-driving systems with motorized wheels

ABSTRACT

A smart self-driving system includes a body, such as a piece of luggage, supported by a plurality of wheel assemblies. At least one wheel assemblies includes a wheel rotating motor configured to rotate a wheel of the wheel assembly to move the luggage in a given direction. At least one wheel assemblies includes a wheel orientation sensor configured to measure the orientation of the wheel. At least one wheel assembly includes a wheel orientation motor configured to orient the wheel in the given direction. The smart self-driving system is configured to move in forward direction that is different than a head direction of the body.

BACKGROUND Field

Embodiments disclosed herein relate to smart self-driving systems withmotorized wheels.

Description of the Related Art

Travelers are often required to transport luggage across long distances,such as within long corridors of airport terminals. Transporting luggagemay be inconvenient, stressful, and require undesirable levels ofphysical exertion. Even luggage that can be rolled on wheels has to bepulled or pushed, which can strain the arms and back of a persontransporting the luggage. Some developers have incorporated electronicsand motors into their products to provide self-driving luggage. However,current self-driving luggage designs have fixed wheels that are limitedin their operation and maneuverability, especially when being used incrowded places like airports, hotels, or a busy sidewalk.

Therefore, there exists a need for new and improved smart self-drivingsystems.

SUMMARY

A smart self-driving system comprising a body; and three or more wheelassemblies coupled to the body and configured to rotate and roll in agiven direction, wherein two or more of the wheel assemblies include awheel rotating motor configured to rotate a wheel of the wheel assemblyto move the body in the given direction.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a smart luggage system according to oneembodiment.

FIG. 2 is a perspective view of four wheel assemblies detached from thebottom of the smart luggage system according to one embodiment.

FIG. 3 is an exploded view of one of the wheel assemblies of the smartluggage system according to one embodiment.

FIG. 4 is an exploded view of one of the motorized wheels of the smartluggage system according to one embodiment.

FIG. 5 is a block diagram of the smart luggage system according to oneembodiment.

FIGS. 6A-6E illustrate a sequence of operation of the smart luggagesystem according to one embodiment.

FIG. 7 illustrates a driving force calculation incorporated into thesmart luggage system according to one embodiment.

FIG. 8 is an exploded view of one of the wheel assemblies of the smartluggage system according to another embodiment.

FIG. 9 is a block diagram of the smart luggage system according toanother embodiment.

FIG. 10 illustrates a travel path of the smart luggage system when inoperation with a user.

FIG. 11 is a perspective view of a smart shopping cart system accordingto one embodiment.

FIG. 12 is a perspective view of a smart self-driving system accordingto one embodiment.

To facilitate understanding, identical reference numerals have beenused, where possible, to designate identical elements that are common tothe figures. It is contemplated that elements disclosed in oneembodiment may be beneficially utilized with other embodiments withoutspecific recitation.

DETAILED DESCRIPTION

Embodiments of the disclosure include a smart luggage system that isself-driving and has one or more motorized wheel assemblies. The smartluggage system is configured to autonomously follow a user or object ina given direction. Although the embodiments of the smart luggage systemare described and illustrated herein with respect to a suitcase, theembodiments may be used with other types of portable equipment, such asa shopping cart.

In one embodiment, the smart luggage system includes one or more wheelrotating motors and one or more wheel orientation sensors to help movethe luggage in a given direction. In one embodiment, the smart luggagesystem includes one or more wheel rotating motors and one or more wheelsteering motors to help move the luggage in a given direction. In oneembodiment, the smart luggage system can move in a forward directionthat is different from a head direction of the luggage.

FIG. 1 is a perspective view of a smart luggage system 100 according toone embodiment. The smart luggage system 100 includes a body in the formof a piece of luggage 10, such as a suitcase, that can be used to storeitems for transport. The luggage 10 is supported by four wheelassemblies 20. Each wheel assembly 20 is configured to rotate in a givendirection and roll in the given direction. According to one example, thewheel assemblies 20 may be caster-type wheels. All four of the wheelassemblies 20 may be motorized as further detailed below.

A handle 30 is provided to allow a user to push, pull, and/or lift theluggage 10. The handle 30 may include one or more touch sensorsconfigured to switch the smart luggage system 100 to a manual controlmode for manual operation by a user when touched by the user. The touchsensor may include a capacitive sensor, a restive sensor, an infraredtouch sensor, and/or a surface acoustic wave (SAW) touch sensor.

The system 100 includes one or more cameras 40 coupled to the luggage10. One camera 40 is shown located on a front side of the luggage 10near the top end of the luggage 10 although any number of cameras 40 maybe used. The camera 40 is configured to record visual images and/ordetect the presence of nearby objects (similar to proximity sensors 50).The camera 40 may include a monocular camera, a binocular camera, and/ora stereo camera.

The system 100 includes one or more proximity sensors 50 coupled to theluggage 10. Three proximity sensors 50 are shown located on the frontside of the luggage 10 near the top end of the luggage 10, and oneproximity sensor 50 is shown located on a right side of the luggage 10near the bottom end of the luggage 10. Any number of proximity sensors50 may be used and located at different positions on the luggage 10. Theproximity sensors 50 are configured to detect the presence of nearbyobjects and may include sonar sensors, infrared sensors, radar sensors,and/or LiDAR sensors.

FIG. 2 is a perspective view of the four wheel assemblies 20 detachedfrom the bottom end of the smart luggage system 100 according to oneembodiment. Each wheel assembly 20 includes an upper slip ring housing21 coupled to a lower slip ring housing 22. A motorized wheel 24 iscoupled to the lower slip ring housing 22 by a wheel mount 23. Themotorized wheel 24 is configured to both roll to move the luggage 10 androtate (e.g. pivot or swivel) to change the direction of movement of theluggage 10.

In one embodiment, the two rear wheel assemblies 20 may be motorizedwhile the two front wheel assemblies 20 may be normal wheel assemblies,e.g. non-motorized. In one embodiment, the two front wheel assemblies 20may be motorized while the two rear wheel assemblies 20 may be normalwheel assemblies, e.g. non-motorized. In one embodiment, any one, two,or three of the wheel assemblies 20 may be motorized while the otherwheel assemblies 20 are normal wheel assemblies, e.g. non-motorized.

FIG. 3 is an exploded view of one of the wheel assemblies 20 of thesmart luggage system 100 according to one embodiment. The wheel assembly20 includes a slip ring 26 disposed within the upper slip ring housing21 and the lower slip ring housing 22. The slip ring 26 is configured totransmit electrical signals between components within the luggage 10that are stationary and components within the wheel assembly 20 that arerolling and/or rotating.

The wheel assembly 20 further includes a magnetic rotary encoder 25, abearing assembly 27, and a magnet 28 all coupled to the upper slip ringhousing 21 and the lower slip ring housing 22. The combination of themagnetic rotary encoder 25 and the magnet 28 functions as a wheelorientation sensor 31 configured to measure and transmit a signalcorresponding to the orientation of the motorized wheel 24. Informationregarding the orientation of the motorized wheel 24, such as relative tothe luggage 10, can be used to help direct the luggage 10 in a givendirection.

The motorized wheel 24 is coupled to the upper slip ring housing 21 andthe lower slip ring housing 22 by the wheel mount 23. The wheel mount 23includes a shaft 29A, a yoke 29B, and an outer housing 29C. Themotorized wheel 24 has an axle 32 that is secured within the yoke 29B.The motorized wheel 24 is configured to roll along the ground relativeto the wheel mount 23 about the X-axis, which is parallel to thelongitudinal axis of the axle 32 as shown (e.g. the centerline of themotorized wheel 24). The motorized wheel 24 and the wheel mount 23 arerotatable (e.g. can pivot or swivel) together relative to thelongitudinal axis of the upper slip ring housing 21 and the lower slipring housing 22 about the Y-axis, which is parallel to the longitudinalaxis of the shaft 29A as shown. The motorized wheel 24 is configured toroll and rotate about two different axes. In one embodiment, the axisabout which the motorized wheel 24 rolls (e.g. X-axis) may be offsetfrom the axis about which the motorized wheel 24 rotates (e.g. Y-axis).In other words, the Y-axis about which the motorized wheel 24 rotates isoffset from the X-axis, which is the centerline about which themotorized wheel 24 rolls. In one embodiment, the axis about which themotorized wheel 24 rolls (e.g. X-axis) may be in the same plane as theaxis about which the motorized wheel 24 rotates (e.g. Y-axis). In otherwords, the Y-axis about which the motorized wheel 24 rotates is mutuallyorthogonal and coincides with the X-axis, which is the centerline aboutwhich the motorized wheel 24 rolls.

FIG. 4 is an exploded view of one motorized wheel 24 of the smartluggage system 100 according to one embodiment. The motorized wheel 24includes outer covers 61, bearings 62, a housing 63, a rotor 64, a wheelcontrol module 65, a stator 66, and a rotary speed sensor 53. Thebearings 62, the rotor 64, the wheel control module 65, the stator 66,and the rotary speed sensor 53 are disposed within the housing 63. Theouter covers 61 are coupled to the opposite sides of the housing 63 toenclose the components within. In one embodiment, the rotary speedsensor 53 may be positioned outside of the housing 63.

The housing 63 and the rotor 64 are rotationally coupled togetherthrough a pin and groove engagement 59. The rotor 64 includes aplurality of magnets 68 that interact with a plurality of windings 69 ofthe stator 66 to form a wheel rotating motor 32 configured to rotate themotorized wheel 24 when powered. The wheel rotating motor 32 may be anytype of electric motor. The axle 32 extends through the housing 63 andthe outer covers 61 to connect the motorized wheel 24 to the yoke 29B ofthe wheel mount 23.

The wheel control module 65 is configured to control the rotary speed ofthe motorized wheel 24 about the axle 32. The wheel control module 65 isconfigured to control the amount of power, e.g. current, supplied to thestator 66 of the wheel rotating motor 32, which controls the speed ofrotation of the rotor 64 and housing 63 about the axle 67. The rotaryspeed sensor 53 is configured to measure the rotary speed of themotorized wheel 24. The rotary speed sensor 53 is configured to transmita signal to the wheel control module 65 corresponding to the measuredrotary speed.

In one embodiment, the wheel control module 65 is located within thehousing 63 of the motorized wheel 24. In one embodiment, the wheelcontrol module 65 is located inside the luggage 10 separate from themotorized wheel 24. In one embodiment, at least one wheel control module65 is located within the housing 63 of one motorized wheel 24, and atleast one other wheel control module 65 is located inside the luggage 10separate from one motorized wheel 24.

FIG. 5 is a block diagram of the smart luggage system 100 according toone embodiment. The system 100 includes a battery 70 in communicationwith a power distribution module 71. The power distribution module 71 isconfigured to distribute power supplied by the battery 70 to the othercomponents of the system 100.

The system 100 includes a central processing unit (“CPU”) 72 incommunication with a wristband communication module 75, a positioningmodule 74, an accelerometer 51, and the wheel orientation sensor (e.g.the magnetic rotary encoder 25 and the magnet 28 as shown in FIG. 3).

A wristband 76 is used to communicate with the wristband communicationmodule 75 via ultra-wideband, radio frequency identification (activeand/or passive), Bluetooth (low energy), WiFi, and/or any other form ofcommunication known in the art. The wristband 76 is configured to allowa user to send instructions to the CPU 72. The wristband 76 is alsoconfigured to allow a user to receive information from the CPU 72regarding the operation of the system 100. In one embodiment, a remotecontrol (such as the wristband 76) may be used to instruct the CPU 72 tomove the luggage 10 in a given direction. A user can use the remotecontrol to navigate the luggage 10 in a given direction.

The positioning module 74 is configured to communicate informationregarding the position of the luggage 10 to the CPU 72 and the user (viathe wristband 76 for example). The positioning module 74 may include GPS(outdoor), WiFi access points (indoor), and/or Bluetooth beacons(indoor) so that the user can find the location of the luggage 10 at anytime, such as in the event that the luggage 10 is lost. Theaccelerometer 51 is configured to communicate information regarding theoverall acceleration and/or speed of the luggage 10 to the CPU 72. Thewheel orientation sensor 31 is configured to communicate informationregarding the orientation of the motorized wheel 24 to the CPU 72.

The CPU 72 is also in communication with the camera 40, the proximitysensors 50, an inertial measurement unit (“IMU”) 77, and the wheelcontrol module 65. The camera 40 is configured to communicateinformation regarding the visual images and presence of nearby objectsthat the camera 40 records and/or detects to the CPU 72. The proximitysensors 50 are configured to communicate information regarding thepresence of objects near the luggage 10 to the CPU 72. The IMU 77 isconfigured to communicate information regarding the dynamic movements ofthe luggage 10, such as the pitch, roll, yaw, acceleration, and/orangular rate of the luggage 10 to the CPU 72. For example, once the IMU77 detects that the luggage 10 is tilting or falling over, then the CPU72 will instruct the wheel control module 65 to stop the wheel rotatingmotors 32.

The wheel control module 65 is in communication with the rotary speedsensor 53 and the wheel rotating motor 32. The wheel control module 65is configured to communicate information regarding the motorized wheel24, such as the rotary speed measured by the rotary speed sensor 53, tothe CPU 72. Although only one wheel control module 65 is shown, eachwheel assembly 20 can include a separate wheel control module 65 incommunication with the CPU 72. In one embodiment, the wheel controlmodule 65 can be integrated into the CPU 72 as a single processing unit.According to one example, the CPU 72 includes a single wheel controlmodule 65 to control all four wheel assemblies 20. According to oneexample, the CPU 72 includes four wheel control modules 65, one for eachwheel assembly 20.

The CPU 72 is configured to analyze the information received from thevarious components (e.g. camera 40, sensors 31, 50, 53, modules 65, 74,75, etc.) of the system 100 and perform the computational functionsprogrammed into the CPU 72 based on the information to operate thesystem 100 as described herein. For example, the CPU 72 is configured todetermine a given direction and speed based on the information. The CPU72 is configured to control the direction and speed of the luggage 10relative to a user and/or the surrounding environment. For example, theCPU 72 is configured to control the direction and the speed of theluggage 10 through the wheel control module 65 by instructing the wheelcontrol module 65 to increase, decrease, or stop power, e.g. inputcurrent, supplied to each respective motorized wheel 24.

FIGS. 6A-6E illustrate a sequence of operation of the smart luggagesystem 100 according to one embodiment.

FIG. 6A illustrates the system 100 moving in a given direction “D” witheach wheel 1, 2, 3, 4 (e.g. the wheel assemblies 20) oriented in thegiven direction “D”. The orientation of the wheels 1, 2, 3, 4 ismeasured by the wheel orientation sensor 31 and communicated to the CPU72. Based on the wheel orientation, the CPU 72 directs the wheel controlmodule 65 to provide the same amount of input current to each wheel 1,2, 3, 4 to move the luggage 10 in the given direction “D”.

FIG. 6B illustrates the system 100 moving in a given direction “D” butwith the wheel 2 oriented in a direction that is different than thegiven direction “D”. As the luggage 10 moves along the ground, the wheel2 can be forced into a direction different by surrounding environmentalinfluences, such as the roughness or unevenness of the ground. Once theunintended turning of the wheel 2 is detected by the wheel orientationsensor 31, the CPU 72 is configured to direct the wheel control module65 to reduce or stop the input current to the wheel 2 if there is aforce being applied by the wheel 2 that is forcing the luggage 10 in adirection that is different than the given direction “D”.

FIG. 6C illustrates the system 100 moving in a given direction “D” butwith the wheel 2 further turned in a direction different from the givendirection “D”. The CPU 72 is configured to direct the wheel controlmodule 65 to further reduce or stop the input current to the wheel 2 toprevent the wheel 2 from influencing the luggage 10 to move in adirection different from the given direction “D”. The wheel 2 may beallowed to move freely while the luggage 10 is driven by the remainingwheels 1, 3, 4 if all of the input current to the wheel 2 is stopped.

FIG. 6D illustrates the system 100 moving in a given direction “D” butwith the wheel 2 oriented back into a direction that is similar to thegiven direction “D”. The wheel 2 can be turned by contact with theroughness or unevenness of the ground and/or by the drive force appliedto the luggage 10 by the remaining wheels 1, 3, 4. Once the wheelorientation sensor 31 detects that the wheel 2 is oriented into adirection that is similar to the given direction “D”, the CPU 72 isconfigured to direct the wheel control module 65 to increase the inputcurrent to the wheel 2 to help force the orientation of the wheel 2 inthe same direction as the given direction “D”.

FIG. 6E illustrates the system 100 moving in a given direction “D” withall of the wheels 1, 2, 3, 4 oriented in the given direction “D”. Basedon the wheel orientation, the CPU 72 directs the wheel control module 65to provide the same amount of input current to each wheel 1, 2, 3, 4 tocontinue to move the luggage 10 in the given direction “D”.

FIGS. 6A-6E illustrate only one sequence of operation. The smart luggagesystem 100 is capable of operating across any number of sequences as thewheels 1, 2, 3, 4 are continuously moving over different groundsurfaces. The CPU 72 continuously monitors the orientation and speed ofeach wheel 1, 2, 3, 4, as well as the other information provided by theother components of the system 100. The CPU 72 is configured tocontinuously instruct the wheel control module 65 to increase, decrease,or stop current input to any or all of the wheels 1, 2, 3, 4,respectively, as needed to maintain the movement of the luggage 10 inthe given direction “D”. The orientation, rotary speed, and/or inputcurrent supplied to each wheel 1, 2, 3, 4 may be different or the sameas any other wheel 1, 2, 3, 4 at any point in time.

FIG. 7 illustrates a driving force calculation programmed into the CPU72 of the smart luggage system 100 (labeled as C1) according to oneembodiment. Once there is an unintended turning of any wheel (labeled asM1, M2, M3, M4) that is detected by the wheel orientation sensor 31,then the CPU 72 will instruct the wheel control module 65 to reduce orstop the input current to the respective wheel rotating motor 32 ifthere is a driving force being applied by any of the wheels in adirection different than the expected forward force to the givendirection P1. As shown in FIG. 7, the angle of each wheel and the angleof the given direction P1 are measured relative to the X-axis.

FIG. 8 is an exploded view of one wheel assembly 20 of the smart luggagesystem 100 according to another embodiment. The wheel assembly 20 shownin FIG. 8 is similar as the wheel assembly 20 shown in FIG. 3 but hasthe following difference. The wheel orientation sensor 31 (e.g. themagnetic rotary encoder 25 and the magnet 28) has been replaced with awheel steering motor 80. The wheel steering motor 80 is disposed withinthe upper slip ring housing 21 and the lower slip ring housing 22 abovethe slip ring 26. The wheel steering motor 80 is configured to controlthe orientation of the motorized wheel 24 to direct the luggage 10 inthe given direction. For example, the wheel steering motor 80 isconfigured to rotate the wheel assembly 20 about the Y-axis to orientthe motorized wheel 24 in the given direction.

In one embodiment, the two rear wheel assemblies 20 may include both thewheel steering motors 80 and the wheel rotating motors, while the twofront wheel assemblies 20 include only the wheel steering motors 80. Inone embodiment, the two front wheel assemblies 20 may include both thewheel steering motors 80 and the wheel rotating motors, while the tworear wheel assemblies 20 include only the wheel steering motors 80. Inone embodiment, any one, two, or three of the wheel assemblies 20 mayinclude any combination of the wheel steering motors 80 and the wheelrotating motors. In one embodiment, the number of wheel steering motors80 is less than the number of wheel rotating motors.

FIG. 9 is a block diagram of the smart luggage system 100 according tothe embodiment of FIG. 8. The block diagram shown in FIG. 9 is similarto the block diagram shown in FIG. 5 but shows the wheel steering motor80 instead of the wheel orientation sensor 31. The wheel steering motor80 is in communication with the wheel control module 65. The wheelcontrol module 65 is configured to communicate information regarding thewheel steering motor 80 to the CPU 72.

The CPU 72 is configured to analyze the information received from thevarious components of the system 100 and perform the computationalfunctions programmed into the CPU 72 to operate the system 100. The CPU72 is configured to determine a given direction and speed based on theinformation. The CPU 72 is configured to control the direction and speedof the luggage 10 relative to a user and/or the surrounding environment.

For example, the CPU 72 is configured to control the direction of theluggage 10 through the wheel control module 65, and in particular, bydirecting the wheel steering motor 80 to orient each respectivemotorized wheel 24 in the given direction. The CPU 72 is also configuredto control the speed of the luggage 10 through the wheel control module65, and in particular, by directing the wheel control module 65 toincrease, decrease, or stop power, e.g. current, supplied to eachrespective wheel rotating motor 32. The combination of the wheelsteering motor 80 and the wheel rotating motor 32 allows the smartluggage system 100 to continuously move in the given direction, while atthe same time maneuvering over different ground surfaces and avoidingnearby obstacles.

FIG. 10 illustrates a travel path of the smart luggage system 100 whenin operation with a user 300 according to one embodiment. The smartluggage system 100 has the ability to orient the luggage 10 in a headdirection 310 while moving in a forward direction 320 that is differentthan the head direction 310. As shown, the user 300 can be walking in agiven direction 330 that is in a diagonal direction relative to the headdirection 310 of the luggage 10. The system 100 does not have to steerthe luggage 10 in advance but rather has the ability move the luggage 10along the forward direction 320 to follow the given direction 330, whilemaintaining the luggage 10 in the head direction 310. The forwarddirection 320 can be parallel to the given direction 330.

In one embodiment, the smart luggage system 100 is configured toautonomously follow any one or more users, such as a person, in a givendirection. In one embodiment, the smart luggage system 100 is configuredto autonomously follow any one or more objects in a given direction. Inone embodiment, the smart luggage system 100 is configured toautonomously move in a given direction based on instructions receivedfrom a user via a remote control. In one embodiment, the smart luggagesystem 100 is configured to autonomously move in any given directionfrom one location to another location based on a set of pre-programmedinstructions provided by the user.

FIG. 11 is a perspective view of a smart shopping cart system 500according to one embodiment. All of the embodiments described hereinwith respect to the smart luggage system 100 may be incorporated intothe smart shopping cart system 500. For example, the system 500 includesthe wheel assemblies 20 as described above with respect to the smartluggage system 100.

The system 500 includes a body 510 coupled to a base 520. The body 510may be a cart, basket, or any other type of container that can be usedto contain and/or transport items. Any of the components of the system500, such as the battery 70, the power distribution module 71, the CPU72, the wristband communication module 75, the positioning module 74,the inertial measurement unit 77, the accelerometer 51, and/or the wheelcontrol module 65 may be disposed in the body 510 and/or the base 520.The wheel assemblies 20 are coupled to the base 520 and configured tomove the system 500 in a given direction similar to the movement of theluggage 10 described above. The wheel assemblies 20 are configured tomove the body 510 along a forward direction that is different than ahead direction of the body 510.

The front side of the system 500 may include one or more cameras,proximity sensors, and/or any other type of sensing device as identifiedby reference number 530. The left side of the system 500 may alsoinclude one or more cameras, proximity sensors, and/or any other type ofsensing device as identified by reference number 540. Any number ofcameras, proximity sensors, and/or any other type of sensing device maybe coupled to any side of the body 510 and/or base 520.

FIG. 12 is a perspective view of a smart self-driving system 600according to one embodiment. All of the embodiments described hereinwith respect to the smart luggage system 100 may be incorporated intothe smart self-driving system 600. For example, the system 600 includesthe wheel assemblies 20 as described above with respect to the smartluggage system 100.

The system 600 includes a body 610 coupled to a base 620. The body 610and the base 620 may be separate components or may be formed as a singlecomponent. Any of the components of the system 600, such as the battery70, the power distribution module 71, the CPU 72, the wristbandcommunication module 75, the positioning module 74, the inertialmeasurement unit 77, the accelerometer 51, and/or the wheel controlmodule 65 may be disposed in the body 610 and/or the base 620. The wheelassemblies 20 are coupled to the base 620 and configured to move thesystem 600 in a given direction similar to the movement of the luggage10 described above. The wheel assemblies 20 are configured to move thebody 610 along a forward direction that is different than a headdirection of the body 610.

The front side of the system 600 may include one or more cameras,proximity sensors, and/or any other type of sensing device as identifiedby reference number 630. The right side of the system 600 may alsoinclude one or more cameras, proximity sensors, and/or any other type ofsensing device as identified by reference number 640. Any number ofcameras, proximity sensors, and/or any other type of sensing device maybe coupled to any side of the body 610 and/or base 620.

In one embodiment, the body 610 may be a container used to containand/or transport items placed inside the body 610. In one embodiment,the body 610 may be a support member used to support and/or transportitems placed on top of the body 610. In one embodiment, the body 610 maybe a housing used to protect the components of the system 600 and doesnot need to support the weight of any other items. For example, thesystem 600 can be used to deliver food to a house, a hotel room, and/ora table at a restaurant. For another example, the system 600 can be usedas a security monitoring device configured to move around and monitor agiven area.

While the foregoing is directed to embodiments of the disclosure, otherand further embodiments of the disclosure thus may be devised withoutdeparting from the basic scope thereof, and the scope thereof isdetermined by the claims that follow.

The invention claimed is:
 1. A luggage system, comprising: a piece ofluggage configured to store items for transport; three or more wheelassemblies coupled to the luggage and configured to rotate and roll in agiven direction, wherein two or more of the wheel assemblies include awheel rotating motor configured to rotate a wheel of the wheel assemblyto move the luggage in the given direction; and a central processingunit configured to instruct a wheel control module to increase,decrease, or stop input current to the wheel rotating motors when thewheel applies a force to the luggage that is in a direction differentthan the given direction.
 2. The system of claim 1, wherein one or moreof the wheel assemblies further include a wheel steering motorconfigured to orient the wheel in the given direction, and wherein anumber of wheel assemblies having the wheel steering motor is less thana number of wheel assemblies having the wheel rotating motors.
 3. Thesystem of claim 1, wherein an axis about which the wheel assemblies rollis offset from an axis about which the wheel assemblies rotate.
 4. Thesystem of claim 1, wherein an axis about which the wheel assemblies rollis mutually orthogonal and coincides with an axis about which the wheelassemblies rotate.
 5. The system of claim 1, wherein the wheelassemblies that include the wheel rotating motor further include a wheelorientation sensor configured to measure the orientation of the wheel.6. The system of claim 5, wherein the wheel orientation sensor includesa magnetic rotary encoder and a magnet.
 7. The system of claim 1,further comprising a wheel control module configured to control inputcurrent to the wheel rotating motors.
 8. The system of claim 1, whereinthe wheel control module and the central processing unit are integratedtogether in the form of a single processing unit.
 9. The system of claim1, where the system includes four wheel assemblies coupled to a bottomof the luggage, and wherein all four of the wheel assemblies includewheel rotating motors.
 10. The system of claim 1, further comprising acamera, a proximity sensor, and a central processing unit coupled to theluggage, wherein the central processing unit is configured to receiveinformation from at least one of the camera and the proximity sensor todetermine the given direction.
 11. The system of claim 1, furthercomprising a central processing unit coupled to the luggage, and aremote control configured to instruct the central processing unit tomove the luggage in the given direction.
 12. The system of claim 1,wherein the luggage includes a handle to allow a user to push, pull, orlift the luggage, and wherein the handle includes one or more touchsensors configured to switch the system to a manual control mode formanual operation by the user when touched by the user.
 13. The system ofclaim 1, wherein the wheel assemblies are configured to move the luggagealong a forward direction that is different than a head direction of theluggage.
 14. A self-driving system, comprising: a body; three or morewheel assemblies coupled to the body and configured to rotate and rollin a given direction, wherein two or more of the wheel assembliesinclude a wheel rotating motor configured to rotate a wheel of the wheelassembly to move the body in the given direction; and a centralprocessing unit configured to instruct a wheel control module toincrease, decrease, or stop input current to the wheel rotating motorswhen the wheel applies a force to the body that is in a directiondifferent than the given direction.
 15. The system of claim 14, whereinone or more of the wheel assemblies further include a wheel steeringmotor configured to orient the wheel in the given direction, and whereina number of wheel assemblies having the wheel steering motor is lessthan a number of wheel assemblies having the wheel rotating motors. 16.The system of claim 14, wherein an axis about which the wheel assembliesroll is offset from an axis about which the wheel assemblies rotate. 17.The system of claim 14, wherein an axis about which the wheel assembliesroll is mutually orthogonal and coincides with an axis about which thewheel assemblies rotate.
 18. The system of claim 14, wherein the wheelassemblies that include the wheel rotating motor further include a wheelorientation sensor configured to measure the orientation of the wheel,and wherein the wheel orientation sensor includes a magnetic rotaryencoder and a magnet.
 19. The system of claim 14, further comprising awheel control module configured to control input current to the wheelrotating motors.
 20. The system of claim 14, where the system includesfour wheel assemblies coupled to a base of the body, and wherein allfour of the wheel assemblies include wheel rotating motors.
 21. Thesystem of claim 14, further comprising a camera, a proximity sensor, anda central processing unit coupled to the body, wherein the centralprocessing unit is configured to receive information from at least oneof the camera and the proximity sensor to determine the given direction.22. The system of claim 14, further comprising a central processing unitcoupled to the body, and a remote control configured to instruct thecentral processing unit to move the body in the given direction.
 23. Thesystem of claim 14, wherein the body includes a handle to allow a userto push, pull, or lift the body, and wherein the handle includes a touchsensor configured to switch the system to a manual control mode formanual operation by a user when touched by the user.
 24. The system ofclaim 14, wherein the wheel assemblies are configured to move the bodyalong a forward direction that is different than a head direction of thebody.
 25. The system of claim 14, wherein the body is in the form of aluggage or a shopping cart.
 26. A luggage system, comprising: a piece ofluggage configured to store items for transport; and three or more wheelassemblies coupled to the luggage and configured to rotate and roll in agiven direction, wherein two or more of the wheel assemblies include awheel rotating motor configured to rotate a wheel of the wheel assemblyto move the luggage in the given direction, and wherein the wheelassemblies are configured to move the luggage along a forward directionthat is different than a head direction of the luggage.
 27. Aself-driving system, comprising: a body; and three or more wheelassemblies coupled to the body and configured to rotate and roll in agiven direction, wherein two or more of the wheel assemblies include awheel rotating motor configured to rotate a wheel of the wheel assemblyto move the body in the given direction, and wherein the wheelassemblies are configured to move the body along a forward directionthat is different than a head direction of the body.